An algorithm for planning time-optimal trajectories for given minimum distance paths

摘要: The authors address the problem of determining a time-dependent trajectory when path planner provides minimal distance between two points. In contrast with most known methods that work in velocity-time (v-t) space, theirs works directly velocity-arc length (v-s) which is data provided by geometrical planners. first instance, method assumes linear to obtain nonconstrained v-s plane. dynamical constraints are then projected into this space limit original solution. As algorithm uses discretized data, provide its cost on and time exact evaluation for approximation error depends desired accuracy.